• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.12
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• pp.1966-1973
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• 2001

The Jacobian matrix of the equations of motion of a system using velocity transformation technique is derived via variation methods to apply the implicit integration algorithm, DASSL. The concept of generalized coordinate partitioning is used to parameterize the constraint set with independent generalized coordinates. DASSL is applied to determine independent generalized coordinates and velocities. Dependent generalized coordinates, velocities, accelerations and Lagrange multipliers are explicitly retained in the formulation to satisfy all of the governing kinematic and dynamic equations. The derived Jacobian matrix of a system is proved to be valid and accurate both analytically and through solution of numerical examples.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.2
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• pp.201-210
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• 2000

The large deflection of plate is analyzed by co-rotational formulations using small local displacements and rotating unit vectors on the nodal points. The rotational degrees of the freedom are represent ed by the unit vectors1 In the nodal points, and the equilibrium equations are formulated by using small deflection theories of the plates by assuming that the directions of the unit vectors of the nodal points are known apriori. The translational degrees of freedom are independently solved from the rotational degrees of freedom in the equilibrium equations, and the correct directions of the unit vectors are computed by the iterative scheme by imposing the moment equilibrium constraint. The equilibrium equations and the associated solution procedure are explained, and the verification problems are solved.

• Transactions of the Korean Society of Mechanical Engineers
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• v.19 no.1
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• pp.271-276
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• 1995

This paper presents a systematic method for the dynamic analysis of flexible mechanical systems containing closed kinematic loops. Kinematics between pairs of contiguous flexible bodies is described with the joint coordinates and the deformation modal coordinates. The cut-joint constraint equations associated with the closed kinematic loops are derived, simply using the geometric conditions. The equations of motions are initially written in terms of the joint and modal coordinates using the velocity transformation technique. Lagrange multipliers associated with the cut-joint constraints for closed-loop systems are then eliminated systematically using the generalized coordinate partitioning method, resulting to a minimal set of equations of motion.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.33 no.3
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• pp.91-99
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• 1984

Time-optimal control for dmping a one-dimensional xenon-induced spatial power oscillations in pressurized water reactor is studied. Linearized system equations describing the spatial xenon oscillations have been derived based on lambda mode analysis. Optimal control strategies, eventually bang-bang controls, have been drawn applying Pontryagins Minimum Principle, subject to a band constraint on available contros strength. Validity of the linearized system equations and optimal control strategies derived has been demonstrated through conputer simulations which incorporate the finite difference method for one dimensional axial geometry, for the soulution of the two-group neutron diffusion equations. The results obtained through computer simulations show that xenon-induced transients can be suppressed successfully with bang-bang control.

• Journal of the Korean Society for Precision Engineering
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• v.12 no.6
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• pp.105-111
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• 1995

The inverse dynamic equations for 5 link robot including a closed chain have been derived. The closed chain is virtually cut open, and the kinematics and dynamics of the virtual open chain robot are analyzed. The constraints are applied to the virtually cut joints by the Jacobian matrix which represents the configuration of the closed chain. The topology of tree structrued open chain robot is described by a FATHER array. The FATHER array of a link indicates the link tha tis connected in the direction of base link. Based on the inverse dynamic equations, the torque sensitivity models of the 5 link robot have been developed. The sensitivity models characterize the sensitivity of the driving torque with respect to the link parameters. All the procedures are illustrated through the 2 link robot.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.22 no.3
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• pp.504-518
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• 1998

Degree-Of-Freedom(DOF) for most power transmission system varies according to the operation status which consists of friction elements to change the power flow or to adjust the speed ratio such as clutches, brakes or one-way clutches. To simulate the dynamic characteristics of automatic power transmission system which is a typical example of such a variable DOF systems, many sets of governing equations and complicated phase decision routines are necessary. In this paper dynamic constraint theorem is derived explaining the torque transmission characteristics during the clutch engagement process and a robust stable algorithm is developed describing this phase transition phenomenon effectively by introducing the concept of direct torque and virtual damping. Finally, applying this algorithm to a passenger car automatic transmission gear consisting of several friction elements, an efficient simulation methods for such a complex system will be suggested that is very simple and systematic.

• Journal of the Korean Society for Precision Engineering
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• v.29 no.1
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• pp.64-71
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• 2012

In this paper, a parallel manipulator is comprised of two sliders and four links. Sliders execute a linear reciprocating motion depending on parallel guides and make the connected links rotate. A couple of links connected by sliders do coupling motion. The end-effector called a link tip has orientation angle. Through the kinematics analysis of this manipulator, we found displacement, velocity and acceleration using direct and inverse kinematics. We used equations that derived from this analysis and determined five constraint conditions. These conditions had much to do with rotation states of links, the relative relation of link length and coupling motion state. To verify those, we suggest a new algorithm regarding constraint conditions of a manipulator. With the result which performed the algorithm, we found out that operation range of coupled links was limited by relative relation of link length and that manipulator was not able to carry out a series of link motion, in case of being the link vertical between two parallel guides.

• Journal of the Korean Society of Industry Convergence
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• v.4 no.1
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• pp.87-94
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• 2001

In multibody dynamics, differential and algebraic equations which can satisfy both equation of motion and kinematic constraint equation should be solved. To solve this equation, coordinate partitioning method and constraint stabilization method are commonly used. The coordinate partitioning method divides the coordinate into independent and dependent coordinates. The most typical coordinate partitioning method arc LU decomposition, QR decomposition, projection method and SVD(sigular value decomposition).The objective of this research is to find a efficient coordinate partitioning method in flexible multibody systems and a hybrid decomposition algorithm which employs both LU and projection methods is proposed. The accuracy of the solution algorithm is checked with a slider-crank mechanism.

• Proceedings of the KIEE Conference
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• 1991.11a
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• pp.35-38
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• 1991

Recent, problems on the voltage-instability have been paid attention in power system and methods to find the limit of voltage-stability, concerned with these problems, were developed. However, these methods are short of precision on the limit of voltage-instability. Here, using the second-order load flow, constraint equation(d Pi/d Vi=0) and its patial differentiations are precisely formulated. Also, since the taylor series expansion of power flow equations terminates at the second-order terms, partial differentiations of constraint equation, that is Hessian, are constant. Then, Hessian matrix are calculated once during iteration process.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.1
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• pp.32-38
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• 2001

This paper presents an approximate synthesis of 5-SS multi link suspension for 2 D.O.F motions. In the proposed synthesis method, alteration curves of camber, toe, kingpin and caster angles are optimized during the bump rebound and the steering motions. And joint positions can be located within desired boundari es. Especially, steering motions are considered for control of kingpin offset and caster trail. Prescribed motions contain both wheel center positions and imaginary kingpin axes in the multi link type suspension. Constraint equations are formulated with di splacement matrix and velocity matrix using instantaneous screw axis.